AC Motor Control and

EV Applications

Chapter 1

Preliminaries for Motor Control

Brush and Commutator
 Operation Sequence

S N S N S N

(a) (b) (c)

Counter clockwise torque is max. Commutation Counter clockwise torque is max.

Back emf is max. takes place. Back emf is max.
Disengaging/
Engaging
Cross section of a PM DC Motor

Armature Commutator
coil

x
x
x
x
x x
x
x

PM
Faraday’s Law

Bz

Ey
Ex

v
 Back EMF

As the armature winding rotates in the DC field,

the amount of flux passing through the armature winding varies.
Hence, the voltage is developed as the rotor rotates.
The polarity is opposite to the direction of current flow when motoring.
 DC Motor Equivalent Circuit

+
+ +
- -
-

Note that torque constant and back emf constant are the same.

Prove it.
Hint: Derive from the power relationship. (Elec. Power= Mech. Power)
 Field Weakening

Torque

Load
curve
decrease

Speed
Power and Torque vs Speed

power

current

torque

rated
speed
 Practical DC Motor Control Circuit

L1 L2 L3

DC
Motor

(a) (b)
 Four Quadrant Operation

Regeneration Motoring
in the reverse direction in the forward direction

- +
- +
+ -
+ -

Motoring Regeneration
in the reverse direction in the forward direction

- +
- +
+ -
+ -
 DC Motor Dynamic Model

-
+ +
-
 DC Motor Speed Control Block Diagram

Current Controller TL

-
+ PI + PI + +
- - -

1. Determine current loop PI controller so that there is a slight

overshoot to a step input.
2. Replace the current loop by 1. Determine velocity loop PI
controller so that it is critically damped.
3. Find a response for step speed command *=1500rpm with
load TL= 30 us(t-2).
 Speed Control Loop and Bode Plot
PI controller 1st order filter
Inertial Load
Speed (current controller)
command - speed
+- +

(a)

Gain

0 dB

E -20 dB

-40 dB

(b)
 PI and IP Controllers
PI controller
Speed
command - speed
+ ++
-

(a)

IP controller
Speed
command ++ - speed
+ +
- -

(b)
 Speed Responses and Current Commands

1.6 PI Controller
1.4

1.2
IP Controller
1 PI Controller

0.8

0.6

0.4 IP Controller
0.2

0
0 0.2 0.4 0.6 0.8 1.0

Time (sec) Time (sec)

(a) (b)
PI Controller with Reference Model

Reference Model

+ -
+

Integral control

+ +
+ + + +
- +
Proportional
control
 PI Controller with Reference Model

Disturbance
rejection
 Two Control Objectives

+
+ - +

Command Tracking :

Disturbance Rejection :
 Sensitivity and Complementary Sensitivity Functions

+
+ - +

Sensitivity and
Complementary Sensitivity
Functions
 Instability Mechanism

Assumption

14

12
+
+ - +
11
180o phase delay

13
Gain Margin and Phase Margin

Gain crossover angular frequency

0
Gain
Margin

phase crossover angular frequency

Phase
Margin
-180o
 Role of the Integral Controller (Disturbance Rejection)

Input

Disturbance

-
Output + + +
-

0 0.5 1 1.5 2 2.5 3

Time (sec)
Current Loop Based on a Microcontroller

-
Hold element Computing cycle PWM Controlled
(current command) (current control) execution system

Current detection
Bode Plots of PI and PI with reference
PI

PI with reference
Command
following

PI
PI with reference PI with reference

PI

Disturbance
rejection
Sec.
 Double Ratio Rule

Plant

Sequence

Double Ration Rue

For 2nd Order System

 Application of Double Ratio Rule

Double Ration Rue

For 2nd Order System

 IMC Structure

Feed forward Plant with disturbance

compensator
+ +
- +

- +

Feedback compensator
Variations of Two DOF Structure

+ +
- +

- +
(a)

+ +
- +

- +
(b)
Load Torque Observer with an Artificial Delay
load torque
delay
+ +
+ +
- +

+ + -

artificial delay